An improved integrated navigation method with enhanced robustness based on factor graph

Xiaokai Wei,Jie Li,Debiao Zhang,Kaiqiang Feng

Mechanical Systems and Signal Processing（2021）

引用 12|浏览4

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摘要

•Introducing factor graph into integrated navigation system.•Considering the key parameters, expanding the state parameters to improve positioning accuracy.•The INS / GPS / OD factor graph model is constructed by using factor graph technology.•Setting up a weight function to improve the navigation performance and robustness of algorithm.

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关键词

Integrated navigation,Information fusion,Robustness,Outliers,Factor graph

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